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9
AGRAS T40/T20 P
Unmanned Aircraft Flight Manual
The binocular vision system is enabled automatically when the aircraft is in use. Terrain follow and
bypassing functions need to be enabled in the app before use. In Route and A-B Route operation
modes, users can enable the terrain follow and bypassing functions for different terrain types. The
aircraft will y above the vegetation at a constant spraying distance and bypass detected obstacles.
When task terrain is set to Mapping/Field on Flatland, bypassing can be enabled or disabled
independently. In Manual Plus and Mapping operation modes, select Mapping/Field on Flatland as the
task terrain and enable Auto Terrain Follow. The aircraft will achieve terrain follow. In Manual and Fruit
Tree operation modes, the radar can measure the spraying distance above the vegetation or other
surfaces, but the aircraft will not use the data for altitude stabilization. Obstacle avoidance can be used
in any mode.
Detection Range
Binocular vision system: 90° (horizontal), 106° (vertical), 0.4-25 m.
Active phased array omnidirectional radar: 360° (horizontal), ±45° (vertical), 1.5-50 m.
Active phased array backward and downward radar: ±60° (horizontal), ±25° (vertical), 1.5-30 m
(backward), 1-45 m (downward).
Note that the aircraft cannot sense obstacles that are not within its detection range. Fly with caution.
Detection Range of Binocular Vision System and Radars (Vertical)
45°
28°
25°
±
45°
±
45°
106°
The effective detection range varies depending on the size and material of the obstacle. When
sensing objects such as buildings that have a radar cross section (RCS) of more than -5
dBsm, the effective detection range is 50 m. When sensing objects such as power lines that
have a RCS of -10 dBsm, the effective detection range is approximately 30 m. When sensing
objects such as dry tree branches that have a RCS of -15 dBsm, the effective detection range
is approximately 20 m. Obstacle sensing may be affected or unavailable in areas outside of
the effective detection distance.
Fly with caution when the aircraft is near an obstacle that is at a similar altitude with the bottom
of the aircraft. The aircraft cannot detect the obstacle as most or even the whole obstacle is
out of the detection range.
Horizontal Obstacle Avoidance Usage
Make sure horizontal and backward obstacle avoidance are enabled in the app. Obstacle avoidance is
used in the following two scenarios:
1. The aircraft begins to decelerate when it detects an obstacle 15 m in front of the aircraft (when the
aircraft is ying forward) or 15 m behind the aircraft (when the aircraft is ying backward), then brakes
and hovers. While braking, the aircraft cannot accelerate toward the obstacle but can y away from it.
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